// --------------------------------------------------------------------------------------------------------------------
// <copyright file="PathPlanningAndTrackingMetrics.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
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namespace Test.Robotics.Navigation
{
    using System;
    using System.Runtime.Serialization;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    
    /// <summary>
    /// Message type for PathPlanningAndTrackingMetrics.
    /// </summary>
    [DataContract]
    public class PathPlanningAndTrackingMetrics
    {
        /// <summary>
        /// Initializes a new instance of the PathPlanningAndTrackingMetrics class.
        /// </summary>
        /// <param name="rotation">Total accumulated rotation in radians.</param>
        /// <param name="translation">Total accumulated translation distance in meters.</param>
        /// <param name="elapsed">Total accumulated time.</param>
        /// <param name="currentPose">Current robot pose.</param>
        /// <param name="currentDeviation">Current deviation from planned path.</param>
        /// <param name="averageDeviation">Average deviation from planned path.</param>
        /// <param name="maximumDeviation">Maximum deviation from planned path.</param>
        /// <param name="mapDistanceResolution">Map distance resolution in meters.</param>
        public PathPlanningAndTrackingMetrics(double rotation, double translation, TimeSpan elapsed, Pose2D currentPose, double currentDeviation, double averageDeviation, double maximumDeviation, double mapDistanceResolution)
        {
            this.TotalRotationalDistance = rotation;
            this.TotalTranslationDistance = translation;
            this.TotalElapsedTime = elapsed;
            this.CurrentPose = currentPose;
            this.CurrentDeviationFromPath = currentDeviation;
            this.AverageDeviationFromPath = averageDeviation;
            this.MaximumDeviationFromPath = maximumDeviation;
            this.MapDistanceResolution = mapDistanceResolution;
        }

        /// <summary>
        /// Gets total accumulated rotation in radians.
        /// </summary>
        [DataMember]
        public double TotalRotationalDistance { get; private set; }

        /// <summary>
        /// Gets total accumulated translation distance in meters.
        /// </summary>
        [DataMember]
        public double TotalTranslationDistance { get; private set; }

        /// <summary>
        /// Gets total accumulated time.
        /// </summary>
        [DataMember]
        public TimeSpan TotalElapsedTime { get; private set; }

        /// <summary>
        /// Gets current current pose.
        /// </summary>
        [DataMember]
        public Pose2D CurrentPose { get; private set; }

        /// <summary>
        /// Gets the current deviation from the path.
        /// </summary>
        public double CurrentDeviationFromPath { get; private set; }

        /// <summary>
        /// Gets the average deviation from the path.
        /// </summary>
        public double AverageDeviationFromPath { get; private set; }

        /// <summary>
        /// Gets the maximum deviation from the path.
        /// </summary>
        public double MaximumDeviationFromPath { get; private set; }

        /// <summary>
        /// Gets map distance resolution in meters.
        /// </summary>
        public double MapDistanceResolution { get; private set; }
    }
}
